version: 66.04
glider: 108
mission: 11
dive: 348
start: 11 22 108 19 33 30
data:
$ID,108
$MISSION,11
$DIVE,348
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,470
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51779
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-119189.44
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.639299
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,162120,6618.403,-6021.352,0,2074.5,0,-37.7
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,4.27
$_SM_ANGLEo,-7.7
$GPS2,162120,6618.403,-6021.352,0,2074.5,0,-37.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.223,0.070
$KALMAN_X,282769.4,-4535.6,842.2,-268544.9,7978.8
$KALMAN_Y,-219894.6,15602.8,-2592.8,225616.2,-7611.1
$MHEAD_RNG_PITCHd_Wd,110.2,174814,-13.0,-7.021
$D_GRID,439
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,57,0.00,0.00,-38.47,0.000,2,0.000,0.000,2702,326,3138
$GC,60,-0.99,-146.0,3.1,-1.7,7,73,0.65,0.85,-4.62,0.000,4,0.071,0.102,2453,822,3248
$GC,91,-1.09,-146.0,6.1,-7.3,12,97,0.00,2.30,0.00,0.000,6,0.000,0.076,2442,2237,3250
$GC,435,-0.83,-146.0,48.4,-12.2,73,442,0.20,2.25,0.00,0.000,4,0.151,0.083,2494,3604,3252
$GC,534,-0.78,-146.0,57.7,-8.7,90,540,0.00,2.20,0.00,0.000,6,0.000,0.057,2494,2217,3253
$GC,878,-0.71,-146.0,86.8,-8.6,151,884,0.12,2.25,0.00,0.000,4,0.155,0.069,2531,818,3252
$GC,1037,-0.71,-146.0,99.2,-7.9,179,1044,0.00,2.35,0.00,0.000,6,0.000,0.074,2523,2235,3252
$GC,1360,-0.78,-146.0,123.3,-7.4,196,1364,0.00,2.33,0.00,0.000,4,0.000,0.069,2522,811,3252
$GC,1411,-0.78,-146.0,127.5,-8.4,198,1415,0.00,2.35,0.00,0.000,6,0.000,0.071,2514,2235,3252
$GC,1733,-0.78,-146.0,153.2,-8.0,214,1736,0.00,2.25,0.00,0.000,4,0.000,0.085,2503,3605,3252
$GC,1817,-0.83,-146.0,160.4,-8.4,217,1823,0.00,2.20,0.00,0.000,6,0.000,0.057,2503,2220,3252
$GC,2133,-0.83,-146.0,184.2,-7.0,233,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2219,3252
$GC,2445,-0.83,-146.0,205.2,-6.6,248,2448,0.00,2.25,0.00,0.000,4,0.000,0.071,2503,816,3252
$GC,2478,-0.83,-146.0,207.7,-6.7,249,2482,0.00,2.35,0.00,0.000,6,0.000,0.071,2493,2243,3252
$GC,2799,-0.83,-146.0,231.3,-7.3,265,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2243,3252
$GC,3108,-0.83,-146.0,253.4,-7.5,280,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2243,3252
$GC,3418,-0.83,-146.0,276.1,-7.5,295,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2243,3251
$GC,3727,-0.83,-146.0,300.6,-8.4,310,3731,0.00,2.35,0.00,0.000,4,0.000,0.071,2493,811,3251
$GC,3759,-0.83,-146.0,303.3,-8.4,311,3765,0.00,2.35,0.00,0.000,6,0.000,0.071,2483,2234,3252
$GC,4075,-0.83,-146.0,326.3,-7.2,327,4078,0.00,2.33,0.00,0.000,4,0.000,0.082,2483,821,3252
$GC,4143,-0.78,-146.0,331.3,-7.3,330,4148,0.15,2.35,0.00,0.000,6,0.139,0.077,2514,2232,3252
$GC,4471,-0.90,-146.0,349.5,-4.8,346,4475,0.12,2.28,0.00,0.000,4,0.088,0.084,2454,3610,3251
$GC,4515,-0.82,-146.0,352.6,-7.1,348,4520,0.17,2.20,0.00,0.000,6,0.152,0.057,2501,2224,3251
$GC,4836,-0.90,-146.0,369.0,-4.6,364,4840,0.00,2.28,0.00,0.000,4,0.000,0.071,2501,809,3251
$GC,4860,-0.95,-146.0,370.1,-4.7,365,4864,0.00,2.38,0.00,0.000,6,0.000,0.074,2493,2242,3251
$GC,5193,-1.01,-146.0,385.1,-5.3,381,5198,0.12,2.22,0.00,0.000,4,0.083,0.084,2428,3601,3251
$GC,5238,-0.84,-146.0,388.5,-8.1,383,5243,0.22,2.17,0.00,0.000,6,0.150,0.057,2494,2216,3251
$GC,5569,-0.92,-146.0,406.5,-5.3,396,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2216,3251
$GC,5894,-1.01,-146.0,425.4,-6.1,404,5898,0.12,2.25,0.00,0.000,4,0.091,0.069,2443,817,3251
$GC,5904,-1.01,-146.0,426.3,-6.3,404,5909,0.12,2.35,0.00,0.000,6,0.147,0.070,2467,2241,3251
$STATE,6127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6127,begin apogee
$GC,6135,-0.31,0.0,441.1,6.4,410,6263,0.47,0.00,124.62,1.176,6,0.131,0.000,2618,1733,2650
$STATE,6263,end apogee,CONTROL_FINISHED_OK
$STATE,6263,begin climb
$GC,6266,0.99,146.0,444.2,0.0,413,6404,0.85,2.62,130.18,1.093,4,0.096,0.073,2903,335,2054
$GC,6435,0.79,146.0,431.4,11.5,417,6440,0.22,2.58,0.00,0.000,6,0.134,0.061,2845,1751,2052
$GC,6760,0.81,158.6,408.4,6.6,425,6776,0.00,2.42,11.07,0.989,4,0.000,0.074,2845,3163,2003
$GC,6871,0.69,158.6,400.1,7.9,427,6876,0.10,2.38,0.00,0.000,6,0.143,0.057,2828,1738,2002
$GC,7193,0.89,251.8,384.7,4.0,443,7279,0.15,0.00,82.60,1.091,6,0.074,0.000,2890,1738,1623
$GC,7584,0.82,251.8,350.0,9.4,462,7589,0.12,2.40,0.00,0.000,4,0.128,0.071,2864,332,1613
$GC,7635,0.94,251.8,345.6,7.7,464,7639,0.00,2.38,0.00,0.000,6,0.000,0.059,2864,1748,1613
$GC,7952,0.94,251.8,321.8,7.4,479,7955,0.00,2.33,0.00,0.000,4,0.000,0.074,2864,3162,1610
$GC,7991,0.87,251.8,318.4,8.9,480,7997,0.00,2.33,0.00,0.000,6,0.000,0.057,2873,1729,1609
$GC,8307,0.89,262.5,295.2,6.7,496,8321,0.00,2.35,8.15,0.945,4,0.000,0.072,2884,326,1580
$GC,8384,0.98,271.5,290.1,6.7,499,8399,0.00,2.35,9.98,0.967,6,0.000,0.061,2883,1744,1543
$GC,8727,0.98,271.5,264.5,8.3,516,8731,0.00,2.33,0.00,0.000,4,0.000,0.091,2884,3155,1541
$GC,8821,0.91,271.5,254.9,10.4,520,8825,0.00,2.30,0.00,0.000,6,0.000,0.058,2893,1725,1540
$GC,9142,0.91,271.5,224.7,9.3,536,9146,0.00,2.28,0.00,0.000,4,0.000,0.073,2904,331,1539
$GC,9188,0.91,271.5,220.4,9.7,538,9193,0.12,2.33,0.00,0.000,6,0.132,0.061,2869,1754,1539
$GC,9515,1.08,297.4,198.3,6.2,554,9545,0.15,2.35,24.08,1.024,4,0.074,0.077,2934,3155,1437
$GC,9603,0.87,297.4,188.9,12.1,558,9607,0.28,2.30,0.00,0.000,6,0.135,0.059,2864,1733,1435
$GC,9936,1.09,313.1,165.2,6.5,574,9958,0.17,2.35,14.48,0.973,4,0.069,0.074,2950,318,1373
$GC,9986,0.98,313.1,160.0,11.5,576,9991,0.22,2.38,0.00,0.000,6,0.139,0.064,2885,1748,1373
$GC,10309,1.09,316.7,136.0,6.9,592,10318,0.12,2.33,4.15,0.709,4,0.077,0.078,2940,3161,1358
$GC,10353,0.87,316.7,131.3,12.4,594,10358,0.30,2.30,0.00,0.000,6,0.136,0.061,2862,1737,1358
$GC,10681,1.56,316.7,106.7,9.5,610,10686,0.45,2.33,0.00,0.000,4,0.093,0.074,3020,324,1356
$GC,10721,1.49,316.7,102.1,11.6,612,10725,0.00,2.35,0.00,0.000,6,0.000,0.064,3020,1752,1356
$GC,11064,1.17,316.7,48.2,14.0,671,11071,0.28,2.40,0.00,0.000,4,0.150,0.074,2946,319,1356
$GC,11173,1.17,316.7,35.5,11.0,690,11179,0.00,2.35,0.00,0.000,6,0.000,0.064,2946,1748,1356
$FREEZE,6.43,-1.758,-1.783
$FREEZE,5.78,-1.760,-1.782
$FREEZE,5.23,-1.764,-1.782
$FREEZE,4.69,-1.764,-1.782
$FREEZE,4.22,-1.764,-1.781
$FREEZE,3.64,-1.764,-1.781
$FREEZE,3.04,-1.764,-1.780
$FREEZE,2.53,-1.765,-1.780
$STATE,11505,end climb,SURFACE_DEPTH_REACHED
$STATE,11506,begin surface coast
$FREEZE,2.01,-1.765,-1.780
$FREEZE,1.96,-1.760,-1.779
$FREEZE,2.00,-1.770,-1.780
$FREEZE,2.05,-1.770,-1.780
$FREEZE,1.97,-1.767,-1.780
$FREEZE,2.01,-1.770,-1.780
$FINISH,2.0,1.026133
$STATE,11539,end surface coast,CONTROL_FINISHED_OK
$STATE,11539,begin surface
$RAFOS_CLK,549
$RAFOS,4,1227386650,20.750000,20.736111,67,65,63,62,59,51,211,187,197,119,159,221
$RAFOS,3,1227386051,20.583334,20.569723,75,61,60,58,58,51,677,155,209,225,141,173
$RAFOS,2,1227385453,20.416666,20.403610,76,63,59,58,58,49,216,196,139,114,157,172
$RAFOS,1,1227384849,20.250000,20.235834,59,59,56,56,54,52,133,208,119,222,181,166
$RAFOS,0,1227384251,20.083334,20.069723,74,62,59,56,53,53,693,209,197,223,116,165
$RAFOS_FIX,6735.099121,-5752.243652,221108,202024,3,75,12.22
$IRIDIUM_FIX,6548.42,-6029.22,160298,060607
$TT8_MAMPS,0.026845
$HUMID,1826
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,14.90
$XPDR_PINGS,39
$24V_AH,22.1,60.137
$10V_AH,10.5,27.442
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,6.050,111.025,409.300,0.000,0.000,0.000,0.000,0.000,9.750,0.000,0.000,0.000,1436.688,8266.350,457.251,1425.659,173.889,33.362,1254.393,0.000,1412.842,1800.000,0.529,0.000
$DEVICE_MAMPS,154.934,102.011,1175.811,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.853,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25285,755
$CAP_FILE_SIZE,99878,0
$CFSIZE,260165632,228114432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.7
$GPS,221108,162120,6618.403,-6021.352,0,2074.5,0,-37.7